Several embedded formulas have been proposed.
Arguably the best known embedded RK methods are the 3(2) pair of Bogacki and Shampine [1]} and the 4(5) pair of Dormand and Prince [2]}, respectively MATLAB's ODE23 and ODE45 implementation [3]}. Some other well-known embedded pairs such as Merson, Ceschino, and Zonneveld can be found in [4]}, [5]}, [6]}.
Coupled with robust step control strategy, it has been shown that embedded explicit Runge–Kutta technique is an efficient method for numerical solution of non-stiff initial value problems [2]}, [8]}, [9]}, [10]}, [3]}.
